# CausGround: Supporting Adaptive Embodied Planning with Causal Interaction Knowledge

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/strr603zlyqtm9kn8q7t561ku
- Original: https://arxiv.org/abs/2610.29702

## Summary

CausGround proposes a non-parametric causal interaction grounding framework that distills interaction experience into reusable, action-centered causal knowledge, identifies action preconditions and effects, and organizes them into a factorized world-state representation. At planning time, it aligns task-relevant causal dependencies with current observations, supporting backward reasoning over preconditions and forward reasoning over effects.